Tag Archives: muscles

To build today’s smartphone in the 1980s, it would cost about $110 million, require nearly 200 kilowatts of energy (compared to 2kW per year today), and the device would be 14 meters tall, according to Applied Materials CTO Omkaram Nalamasu.

That’s the power of materials advances. Materials science has democratized smartphones, bringing the technology to the pockets of over 3.5 billion people. But far beyond devices and circuitry, materials science stands at the center of innumerable breakthroughs across energy, future cities, transit, and medicine. And at the forefront of Covid-19, materials scientists are forging ahead with biomaterials, nanotechnology, and other materials research to accelerate a solution.

As the name suggests, materials science is the branch devoted to the discovery and development of new materials. It’s an outgrowth of both physics and chemistry, using the periodic table as its grocery store and the laws of physics as its cookbook.

And today, we are in the middle of a materials science revolution. In this article, we’ll unpack the most important materials advancements happening now.

Let’s dive in.

The Materials Genome Initiative
In June 2011 at Carnegie Mellon University, President Obama announced the Materials Genome Initiative, a nationwide effort to use open source methods and AI to double the pace of innovation in materials science. Obama felt this acceleration was critical to the US’s global competitiveness, and held the key to solving significant challenges in clean energy, national security, and human welfare. And it worked.

By using AI to map the hundreds of millions of different possible combinations of elements—hydrogen, boron, lithium, carbon, etc.—the initiative created an enormous database that allows scientists to play a kind of improv jazz with the periodic table.

This new map of the physical world lets scientists combine elements faster than ever before and is helping them create all sorts of novel elements. And an array of new fabrication tools are further amplifying this process, allowing us to work at altogether new scales and sizes, including the atomic scale, where we’re now building materials one atom at a time.

Biggest Materials Science Breakthroughs
These tools have helped create the metamaterials used in carbon fiber composites for lighter-weight vehicles, advanced alloys for more durable jet engines, and biomaterials to replace human joints. We’re also seeing breakthroughs in energy storage and quantum computing. In robotics, new materials are helping us create the artificial muscles needed for humanoid, soft robots—think Westworld in your world.

Let’s unpack some of the leading materials science breakthroughs of the past decade.

(1) Lithium-ion batteries

The lithium-ion battery, which today powers everything from our smartphones to our autonomous cars, was first proposed in the 1970s. It couldn’t make it to market until the 1990s, and didn’t begin to reach maturity until the past few years.

An exponential technology, these batteries have been dropping in price for three decades, plummeting 90 percent between 1990 and 2010, and 80 percent since. Concurrently, they’ve seen an eleven-fold increase in capacity.

But producing enough of them to meet demand has been an ongoing problem. Tesla has stepped up to the challenge: one of the company’s Gigafactories in Nevada churns out 20 gigawatts of energy storage per year, marking the first time we’ve seen lithium-ion batteries produced at scale.

Musk predicts 100 Gigafactories could store the energy needs of the entire globe. Other companies are moving quickly to integrate this technology as well: Renault is building a home energy storage based on their Zoe batteries, BMW’s 500 i3 battery packs are being integrated into the UK’s national energy grid, and Toyota, Nissan, and Audi have all announced pilot projects.

Lithium-ion batteries will continue to play a major role in renewable energy storage, helping bring down solar and wind energy prices to compete with those of coal and gasoline.

(2) Graphene

Derived from the same graphite found in everyday pencils, graphene is a sheet of carbon just one atom thick. It is nearly weightless, but 200 times stronger than steel. Conducting electricity and dissipating heat faster than any other known substance, this super-material has transformative applications.

As manufacturing costs decrease, this material has the power to accelerate advancements of all kinds.

(3) Perovskite

Right now, the “conversion efficiency” of the average solar panel—a measure of how much captured sunlight can be turned into electricity—hovers around 16 percent, at a cost of roughly $3 per watt.

Perovskite, a light-sensitive crystal and one of our newer new materials, has the potential to get that up to 66 percent, which would double what silicon panels can muster.

Perovskite’s ingredients are widely available and inexpensive to combine. What do all these factors add up to? Affordable solar energy for everyone.

Materials of the Nano-World
Nanotechnology is the outer edge of materials science, the point where matter manipulation gets nano-small—that’s a million times smaller than an ant, 8,000 times smaller than a red blood cell, and 2.5 times smaller than a strand of DNA.

Nanobots are machines that can be directed to produce more of themselves, or more of whatever else you’d like. And because this takes place at an atomic scale, these nanobots can pull apart any kind of material—soil, water, air—atom by atom, and use these now raw materials to construct just about anything.

Progress has been surprisingly swift in the nano-world, with a bevy of nano-products now on the market. Never want to fold clothes again? Nanoscale additives to fabrics help them resist wrinkling and staining. Don’t do windows? Not a problem! Nano-films make windows self-cleaning, anti-reflective, and capable of conducting electricity. Want to add solar to your house? We’ve got nano-coatings that capture the sun’s energy.

Nanomaterials make lighter automobiles, airplanes, baseball bats, helmets, bicycles, luggage, power tools—the list goes on. Researchers at Harvard built a nanoscale 3D printer capable of producing miniature batteries less than one millimeter wide. And if you don’t like those bulky VR goggles, researchers are now using nanotech to create smart contact lenses with a resolution six times greater than that of today’s smartphones.

And even more is coming. Right now, in medicine, drug delivery nanobots are proving especially useful in fighting cancer. Computing is a stranger story, as a bioengineer at Harvard recently stored 700 terabytes of data in a single gram of DNA.

On the environmental front, scientists can take carbon dioxide from the atmosphere and convert it into super-strong carbon nanofibers for use in manufacturing. If we can do this at scale—powered by solar—a system one-tenth the size of the Sahara Desert could reduce CO2 in the atmosphere to pre-industrial levels in about a decade.

The applications are endless. And coming fast. Over the next decade, the impact of the very, very small is about to get very, very large.

Final Thoughts
With the help of artificial intelligence and quantum computing over the next decade, the discovery of new materials will accelerate exponentially.

And with these new discoveries, customized materials will grow commonplace. Future knee implants will be personalized to meet the exact needs of each body, both in terms of structure and composition.

Ultimately, the path to demonetization and democratization of advanced technologies starts with re-designing materials— the invisible enabler and catalyst. Our future depends on the materials we create.

(Note: This article is an excerpt from The Future Is Faster Than You Think—my new book, just released on January 28th! To get your own copy, click here!)

Join Me
(1) A360 Executive Mastermind: If you’re an exponentially and abundance-minded entrepreneur who would like coaching directly from me, consider joining my Abundance 360 Mastermind, a highly selective community of 360 CEOs and entrepreneurs who I coach for 3 days every January in Beverly Hills, Ca. Through A360, I provide my members with context and clarity about how converging exponential technologies will transform every industry. I’m committed to running A360 for the course of an ongoing 25-year journey as a “countdown to the Singularity.”

If you’d like to learn more and consider joining our 2021 membership, apply here.

(2) Abundance-Digital Online Community: I’ve also created a Digital/Online community of bold, abundance-minded entrepreneurs called Abundance-Digital. Abundance-Digital is Singularity University’s ‘onramp’ for exponential entrepreneurs—those who want to get involved and play at a higher level. Click here to learn more.

(Both A360 and Abundance-Digital are part of Singularity University—your participation opens you to a global community.)

This article originally appeared on diamandis.com. Read the original article here.

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here’s what we have so far (send us your events!):

In case you somehow missed the massive Skydio 2 review we posted earlier this week, the first batches of the drone are now shipping. Each drone gets a lot of attention before it goes out the door, and here’s a behind-the-scenes clip of the process.

[ Skydio ]

Sphero RVR is one of the 15 robots on our robot gift guide this year. Here’s a new video Sphero just released showing some of the things you can do with the robot.

[ RVR ]

NimbRo-OP2 has some impressive recovery skills from the obligatory research-motivated robot abuse.

[ NimbRo ]

Teams seeking to qualify for the Virtual Urban Circuit of the Subterranean Challenge can access practice worlds to test their approaches prior to submitting solutions for the competition. This video previews three of the practice environments.

[ DARPA SubT ]

Stretchable skin-like robots that can be rolled up and put in your pocket have been developed by a University of Bristol team using a new way of embedding artificial muscles and electrical adhesion into soft materials.

[ Bristol ]

Happy Holidays from ABB!

Helping New York celebrate the festive season, twelve ABB robots are interacting with visitors to Bloomingdale’s iconic holiday celebration at their 59th Street flagship store. ABB’s robots are the main attraction in three of Bloomingdale’s twelve-holiday window displays at Lexington and Third Avenue, as ABB demonstrates the potential for its robotics and automation technology to revolutionize visual merchandising and make the retail experience more dynamic and whimsical.

[ ABB ]

We introduce pelican eel–inspired dual-morphing architectures that embody quasi-sequential behaviors of origami unfolding and skin stretching in response to fluid pressure. In the proposed system, fluid paths were enclosed and guided by a set of entirely stretchable origami units that imitate the morphing principle of the pelican eel’s stretchable and foldable frames. This geometric and elastomeric design of fluid networks, in which fluid pressure acts in the direction that the whole body deploys first, resulted in a quasi-sequential dual-morphing response. To verify the effectiveness of our design rule, we built an artificial creature mimicking a pelican eel and reproduced biomimetic dual-morphing behavior.

And here’s a real pelican eel:

[ Science Robotics ]

Delft Dynamics’ updated anti-drone system involves a tether, mid-air net gun, and even a parachute.

[ Delft Dynamics ]

Teleoperation is a great way of helping robots with complex tasks, especially if you can do it through motion capture. But what if you’re teleoperating a non-anthropomorphic robot? Columbia’s ROAM Lab is working on it.

[ Paper ] via [ ROAM Lab ]

I don’t know how I missed this video last year because it’s got a steely robot hand squeezing a cute lil’ chick.

[ MotionLib ] via [ RobotStart ]

In this video we present results of a trajectory generation method for autonomous overtaking of unexpected obstacles in a dynamic urban environment. In these settings, blind spots can arise from perception limitations. For example when overtaking unexpected objects on the vehicle’s ego lane on a two-way street. In this case, a human driver would first make sure that the opposite lane is free and that there is enough room to successfully execute the maneuver, and then it would cut into the opposite lane in order to execute the maneuver successfully. We consider the practical problem of autonomous overtaking when the coverage of the perception system is impaired due to occlusion.

[ Paper ]

New weirdness from Toio!

[ Toio ]

Palo Alto City Library won a technology innovation award! Watch to see how Senior Librarian Dan Lou is using Misty to enhance their technology programs to inspire and educate customers.

[ Misty Robotics ]

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus on solving reorienting using pivoting, in which we allow the grasped object to rotate between fingers. Pivoting decouples the gripper rotation from the object motion, making it possible to reorient an object under strict robot workspace constraints.

[ CMU ]

How can a mobile robot be a good pedestrian without bumping into you on the sidewalk? It must be hard for a robot to navigate in crowded environments since the flow of traffic follows implied social rules. But researchers from MIT developed an algorithm that teaches mobile robots to maneuver in crowds of people, respecting their natural behaviour.

[ Roboy Research Reviews ]

What happens when humans and robots make art together? In this awe-inspiring talk, artist Sougwen Chung shows how she “taught” her artistic style to a machine — and shares the results of their collaboration after making an unexpected discovery: robots make mistakes, too. “Part of the beauty of human and machine systems is their inherent, shared fallibility,” she says.

[ TED ]

Last month at the Cooper Union in New York City, IEEE TechEthics hosted a public panel session on the facts and misperceptions of autonomous vehicles, part of the IEEE TechEthics Conversations Series. The speakers were: Jason Borenstein from Georgia Tech; Missy Cummings from Duke University; Jack Pokrzywa from SAE; and Heather M. Roff from Johns Hopkins Applied Physics Laboratory. The panel was moderated by Mark A. Vasquez, program manager for IEEE TechEthics.

This week’s CMU RI Seminar comes from Jeff Clune at the University of Wyoming, on “Improving Robot and Deep Reinforcement Learning via Quality Diversity and Open-Ended Algorithms.”

Quality Diversity (QD) algorithms are those that seek to produce a diverse set of high-performing solutions to problems. I will describe them and a number of their positive attributes. I will then summarize our Nature paper on how they, when combined with Bayesian Optimization, produce a learning algorithm that enables robots, after being damaged, to adapt in 1-2 minutes in order to continue performing their mission, yielding state-of-the-art robot damage recovery. I will next describe our QD-based Go-Explore algorithm, which dramatically improves the ability of deep reinforcement learning algorithms to solve previously unsolvable problems wherein reward signals are sparse, meaning that intelligent exploration is required. Go-Explore solves Montezuma’s Revenge, considered by many to be a major AI research challenge. Finally, I will motivate research into open-ended algorithms, which seek to innovate endlessly, and introduce our POET algorithm, which generates its own training challenges while learning to solve them, automatically creating a curricula for robots to learn an expanding set of diverse skills. POET creates and solves challenges that are unsolvable with traditional deep reinforcement learning techniques.

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here's what we have so far (send us your events!):

DARPA SubT Urban Circuit – February 18-27, 2020 – Olympia, Wash., USA
Let us know if you have suggestions for next week, and enjoy today’s videos.

There will be a Mini-Cheetah Workshop (sponsored by Naver Labs) a year from now at IROS 2020 in Las Vegas. Mini-Cheetahs for everyone!

That’s just a rendering, of course, but this isn’t:

[ MCW ]

I was like 95 percent sure that the Urban Circuit of the DARPA SubT Challenge was going to be in something very subway station-y. Oops!

In the Subterranean (SubT) Challenge, teams deploy autonomous ground and aerial systems to attempt to map, identify, and report artifacts along competition courses in underground environments. The artifacts represent items a first responder or service member may encounter in unknown underground sites. This video provides a preview of the Urban Circuit event location. The Urban Circuit is scheduled for February 18-27, 2020, at Satsop Business Park west of Olympia, Washington.

[ SubT ]

Researchers at SEAS and the Wyss Institute for Biologically Inspired Engineering have developed a resilient RoboBee powered by soft artificial muscles that can crash into walls, fall onto the floor, and collide with other RoboBees without being damaged. It is the first microrobot powered by soft actuators to achieve controlled flight.

To solve the problem of power density, the researchers built upon the electrically-driven soft actuators developed in the lab of David Clarke, the Extended Tarr Family Professor of Materials. These soft actuators are made using dielectric elastomers, soft materials with good insulating properties, that deform when an electric field is applied. By improving the electrode conductivity, the researchers were able to operate the actuator at 500 Hertz, on par with the rigid actuators used previously in similar robots.

Next, the researchers aim to increase the efficiency of the soft-powered robot, which still lags far behind more traditional flying robots.

[ Harvard ]

We present a system for fast and robust handovers with a robot character, together with a user study investigating the effect of robot speed and reaction time on perceived interaction quality. The system can match and exceed human speeds and confirms that users prefer human-level timing.

In a 3×3 user study, we vary the speed of the robot and add variable sensorimotor delays. We evaluate the social perception of the robot using the Robot Social Attribute Scale (RoSAS). Inclusion of a small delay, mimicking the delay of the human sensorimotor system, leads to an improvement in perceived qualities over both no delay and long delay conditions. Specifically, with no delay the robot is perceived as more discomforting and with a long delay, it is perceived as less warm.

[ Disney Research ]

When cars are autonomous, they’re not going to be able to pump themselves full of gas. Or, more likely, electrons. Kuka has the solution.

[ Kuka ]

This looks like fun, right?

[ Robocoaster ]

NASA is leading the way in the use of On-orbit Servicing, Assembly, and Manufacturing to enable large, persistent, upgradable, and maintainable spacecraft. This video was developed by the Advanced Concepts Lab (ACL) at NASA Langley Research Center.

[ NASA ]

The noisiest workshop by far at Humanoids last month (by far) was Musical Interactions With Humanoids, the end result of which was this:

[ Workshop ]

IROS is an IEEE event, and in furthering the IEEE mission to benefit humanity through technological innovation, IROS is doing a great job. But don’t take it from us – we are joined by IEEE President-Elect Professor Toshio Fukuda to find out a bit more about the impact events like IROS can have, as well as examine some of the issues around intelligent robotics and systems – from privacy to transparency of the systems at play.

[ IROS ]

Speaking of IROS, we hope you’ve been enjoying our coverage. We have already featured Harvard’s strange sea-urchin-inspired robot and a Japanese quadruped that can climb vertical ladders, with more stories to come over the next several weeks.

In the mean time, enjoy these 10 videos from the conference (as usual, we’re including the title, authors, and abstract for each—if you’d like more details about any of these projects, let us know and we’ll find out more for you).

Current grasping methods for aerial vehicles are slow, inaccurate and they cannot adapt to any target object. Thus, they do not allow for on-the-fly, ultra-fast grasping. In this paper, we present a passive closing, adaptive robot hand design that offers ultra-fast, aerial grasping for a wide range of everyday objects. We investigate alternative uses of structural compliance for the development of simple, adaptive robot grippers and hands and we propose an appropriate quick release mechanism that facilitates an instantaneous grasping execution. The quick release mechanism is triggered by a simple distance sensor. The proposed hand utilizes only two actuators to control multiple degrees of freedom over three fingers and it retains the superior grasping capabilities of adaptive grasping mechanisms, even under significant object pose or other environmental uncertainties. The hand achieves a grasping time of 96 ms, a maximum grasping force of 56 N and it is able to secure objects of various shapes at high speeds. The proposed hand can serve as the end-effector of grasping capable Unmanned Aerial Vehicle (UAV) platforms and it can offer perching capabilities, facilitating autonomous docking.

Current robotic terrain mapping techniques require expensive sensor suites to construct an environmental representation. In this work, we present a cube-shaped robot that can roll through unstructured terrain and construct a detailed topographic map of the surface that it traverses in real time with low computational and monetary expense. Our approach devolves many of the complexities of locomotion and mapping to passive mechanical features. Namely, rolling movement is achieved by sequentially inflating latex bladders that are located on four sides of the robot to destabilize and tip it. Sensing is achieved via arrays of fine plastic pins that passively conform to the geometry of underlying terrain, retracting into the cube. We developed a topography by shade algorithm to process images of the displaced pins to reconstruct terrain contours and elevation. We experimentally validated the efficacy of the proposed robot through object mapping and terrain locomotion tasks.

“Toward a Ballbot for Physically Leading People: A Human-Centered Approach,” by Zhongyu Li and Ralph Hollis from Carnegie Mellon University, USA.

This work presents a new human-centered method for indoor service robots to provide people with physical assistance and active guidance while traveling through congested and narrow spaces. As most previous work is robot-centered, this paper develops an end-to-end framework which includes a feedback path of the measured human positions. The framework combines a planning algorithm and a human-robot interaction module to guide the led person to a specified planned position. The approach is deployed on a person-size dynamically stable mobile robot, the CMU ballbot. Trials were conducted where the ballbot physically led a blindfolded person to safely navigate in a cluttered environment.

Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive frame-work to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.

“Small-Scale Compliant Dual Arm With Tail for Winged Aerial Robots,” by Alejandro Suarez, Manuel Perez, Guillermo Heredia, and Anibal Ollero from the University of Seville, Spain.

Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may not be suitable. This paper presents a first prototype of compliant dual arm as preliminary step towards the realization of a winged aerial robot capable of perching and manipulating with the wings folded. The dual arm provides 6 DOF (degrees of freedom) for end effector positioning in a human-like kinematic configuration, with a reach of 25 cm (half-scale w.r.t. the human arm), and 0.2 kg weight. The prototype is built with micro metal gear motors, measuring the joint angles and the deflection with small potentiometers. The paper covers the design, electronics, modeling and control of the arms. Experimental results in test-bench validate the developed prototype and its functionalities, including joint position and torque control, bimanual grasping, the dynamic equilibrium with the tail, and the generation of 3D maps with laser sensors attached at the arms.

This paper describes a novel small-scale turtle-inspired Amphibious Spherical Robot (ASRobot) to accomplish exploration tasks in the restricted environment, such as amphibious areas and narrow underwater cave. A Legged, Multi-Vectored Water-Jet Composite Propulsion Mechanism (LMVWCPM) is designed with four legs, one of which contains three connecting rod parts, one water-jet thruster and three joints driven by digital servos. Using this mechanism, the robot is able to walk like amphibious turtles on various terrains and swim flexibly in submarine environment. A simplified kinematic model is established to analyze crawling gaits. With simulation of the crawling gait, the driving torques of different joints contributed to the choice of servos and the size of links of legs. Then we also modeled the robot in water and proposed several underwater locomotion. In order to assess the performance of the proposed robot, a series of experiments were carried out in the lab pool and on flat ground using the prototype robot. Experiments results verified the effectiveness of LMVWCPM and the amphibious control approaches.

PiDrone is a quadrotor platform created to accompany an introductory robotics course. Students build an autonomous flying robot from scratch and learn to program it through assignments and projects. Existing educational robots do not have significant autonomous capabilities, such as high-level planning and mapping. We present a hardware and software framework for an autonomous aerial robot, in which all software for autonomy can run onboard the drone, implemented in Python. We present an Unscented Kalman Filter (UKF) for accurate state estimation. Next, we present an implementation of Monte Carlo (MC) Localization and Fast-SLAM for Simultaneous Localization and Mapping (SLAM). The performance of UKF, localization, and SLAM is tested and compared to ground truth, provided by a motion-capture system. Our evaluation demonstrates that our autonomous educational framework runs quickly and accurately on a Raspberry Pi in Python, making it ideal for use in educational settings.

FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in flight in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s) in flight. While a vehicle is in flight in the FlightGoggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex dynamics are generated organically through natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest. FlightGoggles is distributed as open-source software along with the photorealistic graphics assets for several simulation environments, under the MIT license at http://flightgoggles.mit.edu.

Robust autonomous flight without GPS is key to many emerging drone applications, such as delivery, search and rescue, and warehouse inspection. These and other appli- cations require accurate trajectory tracking through cluttered static environments, where GPS can be unreliable, while high- speed, agile, flight can increase efficiency. We describe the hardware and software of a quadrotor system that meets these requirements with onboard processing: a custom 300 mm wide quadrotor that uses two wide-field-of-view cameras for visual- inertial motion tracking and relocalization to a prior map. Collision-free trajectories are planned offline and tracked online with a custom tracking controller. This controller includes compensation for drag and variability in propeller performance, enabling accurate trajectory tracking, even at high speeds where aerodynamic effects are significant. We describe a system identification approach that identifies quadrotor-specific parameters via maximum likelihood estimation from flight data. Results from flight experiments are presented, which 1) validate the system identification method, 2) show that our controller with aerodynamic compensation reduces tracking error by more than 50% in both horizontal flights at up to 8.5 m/s and vertical flights at up to 3.1 m/s compared to the state-of-the-art, and 3) demonstrate our system tracking complex, aggressive, trajectories.

“Morphing Structure for Changing Hydrodynamic Characteristics of a Soft Underwater Walking Robot,” by Michael Ishida, Dylan Drotman, Benjamin Shih, Mark Hermes, Mitul Luhar, and Michael T. Tolley from the University of California, San Diego (UCSD) and University of Southern California, USA.

Existing platforms for underwater exploration and inspection are often limited to traversing open water and must expend large amounts of energy to maintain a position in flow for long periods of time. Many benthic animals overcome these limitations using legged locomotion and have different hydrodynamic profiles dictated by different body morphologies. This work presents an underwater legged robot with soft legs and a soft inflatable morphing body that can change shape to influence its hydrodynamic characteristics. Flow over the morphing body separates behind the trailing edge of the inflated shape, so whether the protrusion is at the front, center, or back of the robot influences the amount of drag and lift. When the legged robot (2.87 N underwater weight) needs to remain stationary in flow, an asymmetrically inflated body resists sliding by reducing lift on the body by 40% (from 0.52 N to 0.31 N) at the highest flow rate tested while only increasing drag by 5.5% (from 1.75 N to 1.85 N). When the legged robot needs to walk with flow, a large inflated body is pushed along by the flow, causing the robot to walk 16% faster than it would with an uninflated body. The body shape significantly affects the ability of the robot to walk against flow as it is able to walk against 0.09 m/s flow with the uninflated body, but is pushed backwards with a large inflated body. We demonstrate that the robot can detect changes in flow velocity with a commercial force sensor and respond by morphing into a hydrodynamically preferable shape. Continue reading →

Last night, way past midnight, I stumbled onto my porch blindly grasping for my keys after a hellish day of international travel. Lights were low, I was half-asleep, yet my hand grabbed the keychain, found the lock, and opened the door.

If you’re rolling your eyes—yeah, it’s not exactly an epic feat for a human. Thanks to the intricate wiring between our brain and millions of sensors dotted on—and inside—our skin, we know exactly where our hand is in space and what it’s touching without needing visual confirmation. But this combined sense of the internal and the external is completely lost to robots, which generally rely on computer vision or surface mechanosensors to track their movements and their interaction with the outside world. It’s not always a winning strategy.

What if, instead, we could give robots an artificial nervous system?

This month, a team led by Dr. Rob Shepard at Cornell University did just that, with a seriously clever twist. Rather than mimicking the electric signals in our nervous system, his team turned to light. By embedding optical fibers inside a 3D printed stretchable material, the team engineered an “optical lace” that can detect changes in pressure less than a fraction of a pound, and pinpoint the location to a spot half the width of a tiny needle.

The invention isn’t just an artificial skin. Instead, the delicate fibers can be distributed both inside a robot and on its surface, giving it both a sense of tactile touch and—most importantly—an idea of its own body position in space. Optical lace isn’t a superficial coating of mechanical sensors; it’s an entire platform that may finally endow robots with nerve-like networks throughout the body.

Eventually, engineers hope to use this fleshy, washable material to coat the sharp, cold metal interior of current robots, transforming C-3PO more into the human-like hosts of Westworld. Robots with a “bodily” sense could act as better caretakers for the elderly, said Shepard, because they can assist fragile people without inadvertently bruising or otherwise harming them. The results were published in Science Robotics.

An Unconventional Marriage
The optical lace is especially creative because it marries two contrasting ideas: one biological-inspired, the other wholly alien.

The overarching idea for optical lace is based on the animal kingdom. Through sight, hearing, smell, taste, touch, and other senses, we’re able to interpret the outside world—something scientists call exteroception. Thanks to our nervous system, we perform these computations subconsciously, allowing us to constantly “perceive” what’s going on around us.

Our other perception is purely internal. Proprioception (sorry, it’s not called “inception” though it should be) is how we know where our body parts are in space without having to look at them, which lets us perform complex tasks when blind. Although less intuitive than exteroception, proprioception also relies on stretching and other deformations within the muscles and tendons and receptors under the skin, which generate electrical currents that shoot up into the brain for further interpretation.

In other words, in theory it’s possible to recreate both perceptions with a single information-carrying system.

Here’s where the alien factor comes in. Rather than using electrical properties, the team turned to light as their data carrier. They had good reason. “Compared with electricity, light carries information faster and with higher data densities,” the team explained. Light can also transmit in multiple directions simultaneously, and is less susceptible to electromagnetic interference. Although optical nervous systems don’t exist in the biological world, the team decided to improve on Mother Nature and give it a shot.

Optical Lace
The construction starts with engineering a “sheath” for the optical nerve fibers. The team first used an elastic polyurethane—a synthetic material used in foam cushioning, for example—to make a lattice structure filled with large pores, somewhat like a lattice pie crust. Thanks to rapid, high-resolution 3D printing, the scaffold can have different stiffness from top to bottom. To increase sensitivity to the outside world, the team made the top of the lattice soft and pliable, to better transfer force to mechanical sensors. In contrast, the “deeper” regions held their structure better, and kept their structure under pressure.

Now the fun part. The team next threaded stretchable “light guides” into the scaffold. These fibers transmit photons, and are illuminated with a blue LED light. One, the input light guide, ran horizontally across the soft top part of the scaffold. Others ran perpendicular to the input in a “U” shape, going from more surface regions to deeper ones. These are the output guides. The architecture loosely resembles the wiring in our skin and flesh.

Normally, the output guides are separated from the input by a small air gap. When pressed down, the input light fiber distorts slightly, and if the pressure is high enough, it contacts one of the output guides. This causes light from the input fiber to “leak” to the output one, so that it lights up—the stronger the pressure, the brighter the output.

“When the structure deforms, you have contact between the input line and the output lines, and the light jumps into these output loops in the structure, so you can tell where the contact is happening,” said study author Patricia Xu. “The intensity of this determines the intensity of the deformation itself.”

Double Perception
As a proof-of-concept for proprioception, the team made a cylindrical lace with one input and 12 output channels. They varied the stiffness of the scaffold along the cylinder, and by pressing down at different points, were able to calculate how much each part stretched and deformed—a prominent precursor to knowing where different regions of the structure are moving in space. It’s a very rudimentary sort of proprioception, but one that will become more sophisticated with increasing numbers of strategically-placed mechanosensors.

The test for exteroception was a whole lot stranger. Here, the team engineered another optical lace with 15 output channels and turned it into a squishy piano. When pressed down, an Arduino microcontroller translated light output signals into sound based on the position of each touch. The stronger the pressure, the louder the volume. While not a musical masterpiece, the demo proved their point: the optical lace faithfully reported the strength and location of each touch.

A More Efficient Robot
Although remarkably novel, the optical lace isn’t yet ready for prime time. One problem is scalability: because of light loss, the material is limited to a certain size. However, rather than coating an entire robot, it may help to add optical lace to body parts where perception is critical—for example, fingertips and hands.

The team sees plenty of potential to keep developing the artificial flesh. Depending on particular needs, both the light guides and scaffold can be modified for sensitivity, spatial resolution, and accuracy. Multiple optical fibers that measure for different aspects—pressure, pain, temperature—can potentially be embedded in the same region, giving robots a multitude of senses.

In this way, we hope to reduce the number of electronics and combine signals from multiple sensors without losing information, the authors said. By taking inspiration from biological networks, it may even be possible to use various inputs through an optical lace to control how the robot behaves, closing the loop from sensation to action.

Image Credit: Cornell Organic Robotics Lab. A flexible, porous lattice structure is threaded with stretchable optical fibers containing more than a dozen mechanosensors and attached to an LED light. When the lattice structure is pressed, the sensors pinpoint changes in the photon flow. Continue reading →

We usually think of robots as taking the place of humans in various tasks, but robots of all kinds can also enhance human capabilities. This may be especially true for people with disabilities. And while the Cybathlon competition showed what's possible when cutting-edge research robotics is paired with expert humans, that competition isn't necessarily reflective of the kind of robotics available to most people today.

Kinova Robotics's Jaco arm is an assistive robotic arm designed to be mounted on an electric wheelchair. With six degrees of freedom plus a three-fingered gripper, the lightweight carbon fiber arm is frequently used in research because it's rugged and versatile. But from the start, Kinova created it to add autonomy to the lives of people with mobility constraints.

Earlier this year, Kinova shared the story of Mary Nelson, an 11-year-old girl with spinal muscular atrophy, who uses her Jaco arm to show her horse in competition. Spinal muscular atrophy is a neuromuscular disorder that impairs voluntary muscle movement, including muscles that help with respiration, and Mary depends on a power chair for mobility.

We wanted to learn more about how Kinova designs its Jaco arm, and what that means for folks like Mary, so we spoke with both Kinova and Mary's parents to find out how much of a difference a robot arm can make.

IEEE Spectrum: How did Mary interact with the world before having her arm, and what was involved in the decision to try a robot arm in general? And why then Kinova's arm specifically?

Ryan Nelson: Mary interacts with the world much like you and I do, she just uses different tools to do so. For example, she is 100 percent independent using her computer, iPad, and phone, and she prefers to use a mouse. However, she cannot move a standard mouse, so she connects her wheelchair to each device with Bluetooth to move the mouse pointer/cursor using her wheelchair joystick.

For years, we had a Manfrotto magic arm and super clamp attached to her wheelchair and she used that much like the robotic arm. We could put a baseball bat, paint brush, toys, etc. in the super clamp so that Mary could hold the object and interact as physically able children do. Mary has always wanted to be more independent, so we knew the robotic arm was something she must try. We had seen videos of the Kinova arm on YouTube and on their website, so we reached out to them to get a trial.

Can you tell us about the Jaco arm, and how the process of designing an assistive robot arm is different from the process of designing a conventional robot arm?

Nathaniel Swenson, Director of U.S. Operations — Assistive Technologies at Kinova: Jaco is our flagship robotic arm. Inspired by our CEO's uncle and its namesake, Jacques “Jaco” Forest, it was designed as assistive technology with power wheelchair users in mind.

The primary differences between Jaco and our other robots, such as the new Gen3, which was designed to meet the needs of academic and industry research teams, are speed and power consumption. Other robots such as the Gen3 can move faster and draw slightly more power because they aren't limited by the battery size of power wheelchairs. Depending on the use case, they might not interact directly with a human being in the research setting and can safely move more quickly. Jaco is designed to move at safe speeds and make direct contact with the end user and draw very little power directly from their wheelchair.

The most important consideration in the design process of an assistive robot is the safety of the end user. Jaco users operate their robots through their existing drive controls to assist them in daily activities such as eating, drinking, and opening doors and they don't have to worry about the robot draining their chair's batteries throughout the day. The elegant design that results from meeting the needs of our power chair users has benefited subsequent iterations, [of products] such as the Gen3, as well: Kinova's robots are lightweight, extremely efficient in their power consumption, and safe for direct human-robot interaction. This is not true of conventional industrial robots.

What was the learning process like for Mary? Does she feel like she's mastered the arm, or is it a continuous learning process?

Ryan Nelson: The learning process was super quick for Mary. However, she amazes us every day with the new things that she can do with the arm. Literally within minutes of installing the arm on her chair, Mary had it figured out and was shaking hands with the Kinova rep. The control of the arm is super intuitive and the Kinova reps say that SMA (Spinal Muscular Atrophy) children are perfect users because they are so smart—they pick it up right away. Mary has learned to do many fine motor tasks with the arm, from picking up small objects like a pencil or a ruler, to adjusting her glasses on her face, to doing science experiments.

Photo: The Nelson Family

Mary uses a headset microphone to amplify her voice, and she will use the arm and finger to adjust the microphone in front of her mouth after she is done eating (also a task she mastered quickly with the arm). Additionally, Mary will use the arms to reach down and adjust her feet or leg by grabbing them with the arm and moving them to a more comfortable position. All of these examples are things she never really asked us to do, but something she needed and just did on her own, with the help of the arm.

What is the most common feedback that you get from new users of the arm? How about from experienced users who have been using the arm for a while?

Nathaniel Swenson: New users always tell us how excited they are to see what they can accomplish with their new Jaco. From day one, they are able to do things that they have longed to do without assistance from a caregiver: take a drink of water or coffee, scratch an itch, push the button to open an “accessible” door or elevator, or even feed their baby with a bottle.

The most common feedback I hear from experienced users is that Jaco has changed their life. Our experienced users like Mary are rock stars: everywhere they go, people get excited to see what they'll do next. The difference between a new user and an experienced user could be as little as two weeks. People who operate power wheelchairs every day are already expert drivers and we just add a new “gear” to their chair: robot mode. It's fun to see how quickly new users master the intuitive Jaco control modes.

What changes would you like to see in the next generation of Jaco arm?

Ryan Nelson: Titanium fingers! Make it lift heavier objects, hold heavier items like a baseball bat, machine gun, flame thrower, etc., and Mary literally said this last night: “I wish the arm moved fast enough to play the piano.”

Nathaniel Swenson: I love the idea of titanium fingers! Jaco's fingers are made from a flexible polymer and designed to avoid harm. This allows the fingers to bend or dislocate, rather than break, but it also means they are not as durable as a material like titanium. Increased payload, the ability to manipulate heavier objects, requires increased power consumption. We've struck a careful balance between providing enough strength to accomplish most medically necessary Activities of Daily Living and efficient use of the power chair's batteries.

We take Isaac Asimov's Laws of Robotics pretty seriously. When we start to combine machine guns, flame throwers, and artificial intelligence with robots, I get very nervous!

I wish the arm moved fast enough to play the piano, too! I am also a musician and I share Mary's dream of an assistive robot that would enable her to make music. In the meantime, while we work on that, please enjoy this beautiful violin piece by Manami Ito and her one-of-a-kind violin prosthesis:

To what extent could more autonomy for the arm be helpful for users? What would be involved in implementing that?

Nathaniel Swenson: Artificial intelligence, machine learning, and deep learning will introduce greater autonomy in future iterations of assistive robots. This will enable them to perform more complex tasks that aren't currently possible, and enable them to accomplish routine tasks more quickly and with less input than the current manual control requires.

For assistive robots, implementation of greater autonomy involves a focus on end-user safety and improvements in the robot's awareness of its environment. Autonomous robots that work in close proximity with humans need vision. They must be able to see to avoid collisions and they use haptic feedback to tell the robot how much force is being exerted on objects. All of these technologies exist, but the largest obstacle to bringing them to the assistive technology market is to prove to the health insurance companies who will fund them that they are both safe and medically necessary. Continue reading →